patched version of #202

.clang-format

@@ -1,8 +1,7 @@
 ---
-Language: Cpp
+Language:        Cpp
 ColumnLimit: 100
 DerivePointerAlignment: false
 PointerAlignment: Left
 SortIncludes: false
-InsertNewlineAtEOF: true
 ...

.github/workflows/main.yml

@@ -1,49 +1,40 @@
-name: build
-on:
+name: build 
+
+on: 
   push:
-    branches:
+    branches: 
     - master
   pull_request:
     branches:
     - master
+
 jobs:
+
   build-debug:
     name: CMake Debug Build
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
+
     steps:
-    - uses: actions/checkout@v4
-    - name: install-dependencies
+    - uses: actions/checkout@v2
+    - name: install-eigen
       run: sudo apt install libeigen3-dev
     - name: configure
       run: mkdir build && cd build && cmake -DCMAKE_BUILD_TYPE=Debug ..
     - name: build
       run: cmake --build build
+
   build-release:
     name: CMake Release Build
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
+
     steps:
-    - uses: actions/checkout@v4
-    - name: install-dependencies
+    - uses: actions/checkout@v2
+    - name: install-eigen
       run: sudo apt install libeigen3-dev
     - name: configure
       run: mkdir build && cd build && cmake -DCMAKE_BUILD_TYPE=Release ..
     - name: build
       run: cmake --build build
     - name: test
       run: cd build && ctest all
-  python:
-    name: Python Build
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-    - name: setup-python
-      uses: actions/setup-python@v5
-      with: {python-version: '3.x'}
-    - name: install-dependencies
-      run: sudo apt install libeigen3-dev
-    - name: upgrade-pip
-      run: python -m pip install --upgrade pip
-    - name: build
-      run: python -m pip install ${{github.workspace}}
-    - name: test
-      run: python -c "import teaserpp_python; print('☺')"
+

CMakeLists.txt

@@ -1,10 +1,9 @@
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.10)
 project(teaserpp VERSION 1.0.0)
 
 set(CMAKE_CXX_STANDARD 14)
 
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules/" ${CMAKE_MODULE_PATH})
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 # Check build types
 if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
@@ -13,16 +12,11 @@ if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
             STRING "Choose the type of build." FORCE)
 endif ()
 
-if (DEFINED SKBUILD)
-    message(STATUS "Building with Scikit-Build")
-endif ()
-
 # Options
-option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 option(BUILD_TESTS "Build tests" ON)
 option(BUILD_TEASER_FPFH "Build TEASER++ wrappers for PCL FPFH estimation." OFF)
 option(BUILD_MATLAB_BINDINGS "Build MATLAB bindings" OFF)
-option(BUILD_PYTHON_BINDINGS "Build Python bindings" OFF)
+option(BUILD_PYTHON_BINDINGS "Build Python bindings" ON)
 option(BUILD_DOC "Build documentation" ON)
 option(BUILD_WITH_MARCH_NATIVE "Build with flag march=native" OFF)
 option(ENABLE_MKL "Try to use Eigen with MKL" OFF)
@@ -33,6 +27,11 @@ if (ENABLE_DIAGNOSTIC_PRINT)
     add_definitions(-DTEASER_DIAG_PRINT)
 endif ()
 
+# Cache Variables
+if (NOT TEASERPP_PYTHON_VERSION)
+    set(TEASERPP_PYTHON_VERSION "" CACHE STRING "Python version to use for TEASER++ bindings.")
+endif ()
+
 # Find dependencies
 # Eigen3
 find_package(Eigen3 3.2 QUIET REQUIRED NO_MODULE)
@@ -74,6 +73,44 @@ if (BUILD_TEASER_FPFH)
     endif()
 endif ()
 
+# googletest
+configure_file(cmake/GoogleTest.CMakeLists.txt.in googletest-download/CMakeLists.txt)
+execute_process(COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" .
+        WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/googletest-download")
+execute_process(COMMAND "${CMAKE_COMMAND}" --build .
+        WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/googletest-download")
+set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+add_subdirectory("${CMAKE_BINARY_DIR}/googletest-src"
+        "${CMAKE_BINARY_DIR}/googletest-build" EXCLUDE_FROM_ALL)
+
+# pmc (Parallel Maximum Clique)
+configure_file(cmake/pmc.CMakeLists.txt.in pmc-download/CMakeLists.txt)
+execute_process(COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" .
+        WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/pmc-download")
+execute_process(COMMAND "${CMAKE_COMMAND}" --build .
+        WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/pmc-download")
+add_subdirectory("${CMAKE_BINARY_DIR}/pmc-src"
+        "${CMAKE_BINARY_DIR}/pmc-build")
+
+# tinyply
+configure_file(cmake/tinyply.CMakeLists.txt.in tinyply-download/CMakeLists.txt)
+execute_process(COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" .
+        WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/tinyply-download")
+execute_process(COMMAND "${CMAKE_COMMAND}" --build .
+        WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/tinyply-download")
+add_subdirectory("${CMAKE_BINARY_DIR}/tinyply-src"
+        "${CMAKE_BINARY_DIR}/tinyply-build")
+target_include_directories(tinyply PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/tinyply-src/source>)
+
+# spectra
+configure_file(cmake/spectra.CMakeLists.txt.in spectra-download/CMakeLists.txt)
+execute_process(COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" .
+        WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/spectra-download")
+execute_process(COMMAND "${CMAKE_COMMAND}" --build .
+        WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/spectra-download")
+set(SPECTRA_INCLUDE_DIRS "${CMAKE_BINARY_DIR}/spectra-src/include")
+
 # Building Targets
 set(TEASERPP_ROOT ${CMAKE_CURRENT_LIST_DIR})
 add_subdirectory(teaser)
@@ -93,6 +130,17 @@ if (BUILD_MATLAB_BINDINGS)
 endif ()
 
 if (BUILD_PYTHON_BINDINGS)
+    set(PYBIND11_PYTHON_VERSION ${TEASERPP_PYTHON_VERSION})
+
+    # download the pybind11 repo
+    configure_file(cmake/pybind11.CMakeLists.txt.in pybind11-download/CMakeLists.txt)
+    execute_process(COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" .
+            WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/pybind11-download")
+    execute_process(COMMAND "${CMAKE_COMMAND}" --build .
+            WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/pybind11-download")
+    add_subdirectory("${CMAKE_BINARY_DIR}/pybind11-src"
+            "${CMAKE_BINARY_DIR}/pybind11-build")
+
     message(STATUS "TEASER++ Python binding will be built.")
     add_subdirectory(python)
 endif ()

cmake/GoogleTest.CMakeLists.txt.in

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(googletest-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(googletest
+        URL                https://github.com/google/googletest/archive/release-1.8.1.zip
+        SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
+        BINARY_DIR        "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
+        CONFIGURE_COMMAND ""
+        BUILD_COMMAND     ""
+        INSTALL_COMMAND   ""
+        TEST_COMMAND      ""
+        )

cmake/pmc.CMakeLists.txt.in

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(pmc-download NONE)
+
+include(ExternalProject)
+# Notice that this project uses a forked version of PMC with minor fixes & changes
+ExternalProject_Add(pmc
+        GIT_REPOSITORY    https://github.com/jingnanshi/pmc.git
+        SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/pmc-src"
+        BINARY_DIR        "${CMAKE_CURRENT_BINARY_DIR}/pmc-build"
+        CONFIGURE_COMMAND ""
+        BUILD_COMMAND     ""
+        INSTALL_COMMAND   ""
+        TEST_COMMAND      ""
+        )

cmake/pybind11.CMakeLists.txt.in

@@ -5,11 +5,11 @@ project(pybind11-download NONE)
 include(ExternalProject)
 ExternalProject_Add(pmc
         GIT_REPOSITORY    https://github.com/pybind/pybind11.git
-        GIT_TAG           v2.13.6
+        GIT_TAG           v2.11.1
         SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/pybind11-src"
         BINARY_DIR        "${CMAKE_CURRENT_BINARY_DIR}/pybind11-build"
         CONFIGURE_COMMAND ""
         BUILD_COMMAND     ""
         INSTALL_COMMAND   ""
         TEST_COMMAND      ""
-        )
+        )

cmake/spectra.CMakeLists.txt.in

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(spectra-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(spectral
+        GIT_REPOSITORY    https://github.com/jingnanshi/spectra
+        GIT_TAG           5c4fb1de050847988faaaaa50f60e7d3d5f16143
+        SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/spectra-src"
+        BINARY_DIR        ""
+        CONFIGURE_COMMAND ""
+        BUILD_COMMAND     ""
+        INSTALL_COMMAND   ""
+        TEST_COMMAND      ""
+        )

cmake/tinyply.CMakeLists.txt.in

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(tinyply-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(pmc
+        GIT_REPOSITORY    https://github.com/jingnanshi/tinyply.git
+        GIT_TAG           0b9fff8e8bd4d37256554fe40cf76b2f3134377b
+        SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/tinyply-src"
+        BINARY_DIR        "${CMAKE_CURRENT_BINARY_DIR}/tinyply-build"
+        CONFIGURE_COMMAND ""
+        BUILD_COMMAND     ""
+        INSTALL_COMMAND   ""
+        TEST_COMMAND      ""
+        )

examples/teaser_cpp_fpfh/quatro_cpp_fpfh.cc

@@ -16,8 +16,8 @@ inline double getAngularError(Eigen::Matrix3d R_exp, Eigen::Matrix3d R_est) {
   return std::abs(std::acos(fmin(fmax(((R_exp.transpose() * R_est).trace() - 1) / 2, -1.0), 1.0)));
 }
 
-inline void calcErrors(const Eigen::Matrix4d& T, const Eigen::Matrix3d est_rot,
-                       const Eigen::Vector3d est_ts, double& rot_error, double& ts_error) {
+inline void calcErrors(const Eigen::Matrix4d& T, const Eigen::Matrix3d est_rot, const Eigen::Vector3d est_ts,
+                double &rot_error, double& ts_error) {
   rot_error = getAngularError(T.topLeftCorner(3, 3), est_rot);
   ts_error = (T.topRightCorner(3, 1) - est_ts).norm();
 }
@@ -32,11 +32,11 @@ inline void getParams(const double noise_bound, const std::string reg_type,
   if (reg_type == "Quatro") {
     params.rotation_estimation_algorithm =
         teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM::QUATRO;
-    params.inlier_selection_mode = teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::PMC_HEU;
-  } else if (reg_type == "TEASER") {
+    params.inlier_selection_mode == teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::PMC_HEU;
+  } else if  (reg_type == "TEASER") {
     params.rotation_estimation_algorithm =
         teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM::GNC_TLS;
-    params.inlier_selection_mode = teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::PMC_EXACT;
+    params.inlier_selection_mode == teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::PMC_EXACT;
   } else {
     throw std::invalid_argument("Not implemented!");
   }

examples/teaser_cpp_ply/teaser_cpp_ply.cc

@@ -117,4 +117,4 @@ int main() {
             << std::chrono::duration_cast<std::chrono::microseconds>(end - begin).count() /
                    1000000.0
             << std::endl;
-}
+}

examples/teaser_python_3dsmooth/teaser_python_3dsmooth.py

@@ -109,7 +109,7 @@ def visualize_correspondences(
     frag2_temp.translate(translate)
 
     # estimate normals
-    vis_list = [target, source, frag1_temp, frag2_temp]
+    vis_list = [target, source, frag1_temp, frag2_temp];
     for ii in vis_list:
         ii.estimate_normals()
     vis_list.extend([*inlier_line_mesh_geoms, *outlier_line_mesh_geoms])

python/CMakeLists.txt

@@ -1,22 +1,45 @@
-find_package(pybind11 REQUIRED)
+cmake_minimum_required(VERSION 3.10)
+
+project(teaser_python_bindings)
 
 pybind11_add_module(teaserpp_python teaserpp_python/teaserpp_python.cc)
+
+message(STATUS "Python Interpreter Version: ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
+if (NOT (PYTHON_VERSION_MAJOR EQUAL 2 AND PYTHON_VERSION_MINOR EQUAL 7))
+    # Hack: VTK used in PCL might add /usr/include/python2.7 to all targets'
+    # INCLUDE_DIRECTORIES properties. We need to remove it.
+    get_target_property(TEASERPY_NEW_INCLUDE_DIRS teaserpp_python INTERFACE_INCLUDE_DIRECTORIES)
+    list(FILTER TEASERPY_NEW_INCLUDE_DIRS EXCLUDE REGEX ".*python2.7$")
+    set_target_properties(teaserpp_python
+            PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${TEASERPY_NEW_INCLUDE_DIRS}")
+endif ()
+
 target_link_libraries(teaserpp_python PUBLIC teaser_registration)
 
 # fix for clang
 # see: https://github.com/pybind/pybind11/issues/1818
 if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-  target_compile_options(teaserpp_python PUBLIC -fno-sized-deallocation)
+    target_compile_options(teaserpp_python PUBLIC -fno-sized-deallocation)
 endif ()
 
 # make sure to output the build file to teaserpp_python folder
 SET_TARGET_PROPERTIES(teaserpp_python
-    PROPERTIES
-    OUTPUT_NAME "_teaserpp"
-    PREFIX ""
-    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/teaserpp_python"
-)
-
-if (DEFINED SKBUILD)
-    install(TARGETS teaserpp_python DESTINATION "../teaserpp_python")
-endif ()
+        PROPERTIES
+        PREFIX ""
+        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/teaserpp_python"
+        )
+
+# copy package __init__.py file
+configure_file(teaserpp_python/__init__.py
+        ${CMAKE_CURRENT_BINARY_DIR}/teaserpp_python/__init__.py
+        )
+
+# copy setup.py file
+configure_file(setup.py.in
+        ${CMAKE_CURRENT_BINARY_DIR}/setup.py
+        )
+
+file(COPY .
+        DESTINATION .
+        FILES_MATCHING
+        PATTERN *.py)

python/setup.py.in

@@ -0,0 +1,12 @@
+from setuptools import setup
+
+setup(
+    name='teaserpp_python',
+    version='1.0.0',
+    author='Jingnan Shi',
+    author_email='jnshi@mit.edu',
+    description='Python binding for TEASER++',
+    package_dir={'': '${CMAKE_CURRENT_BINARY_DIR}'},
+    packages=['teaserpp_python'],
+    package_data={'': ['*.so']}
+)